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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*********************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* Software License Agreement (BSD License)</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">*  Copyright (c) 2018, EAIBOT, Inc.</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">*  All rights reserved.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*  Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">*  modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">*  are met:</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">*   * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">*     notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">*   * Redistributions in binary form must reproduce the above</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">*     copyright notice, this list of conditions and the following</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">*     disclaimer in the documentation and/or other materials provided</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">*     with the distribution.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">*   * Neither the name of the Willow Garage nor the names of its</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">*     contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">*     from this software without specific prior written permission.</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">*********************************************************************/</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#ifndef YDLIDAR_DRIVER_H</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#define YDLIDAR_DRIVER_H</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;atomic&gt;</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &quot;serial.h&quot;</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &quot;locker.h&quot;</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &quot;thread.h&quot;</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &quot;ydlidar_protocol.h&quot;</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#if !defined(__cplusplus)</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#ifndef __cplusplus</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#error &quot;The YDLIDAR SDK requires a C++ compiler to be built&quot;</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespacestd.html">std</a>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespaceserial.html">serial</a>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceydlidar.html">ydlidar</a> {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html">   74</a></span>&#160;<span class="keyword">class </span><a class="code" href="classydlidar_1_1_y_dlidar_driver.html">YDlidarDriver</a> {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, SingleChannel,</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, TOFLidar,</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  PropertyBuilderByName(uint32_t, PointTime,</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classydlidar_1_1_y_dlidar_driver.html">YDlidarDriver</a>();</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classydlidar_1_1_y_dlidar_driver.html">YDlidarDriver</a>();</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  result_t connect(<span class="keyword">const</span> <span class="keywordtype">char</span> *port_path, uint32_t baudrate);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordtype">void</span> disconnect();</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">static</span> std::string getSDKVersion();</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">static</span> std::map&lt;std::string, std::string&gt; lidarPortList();</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordtype">bool</span> isscanning() <span class="keyword">const</span>;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">bool</span> isconnected() <span class="keyword">const</span>;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordtype">void</span> setIntensities(<span class="keyword">const</span> <span class="keywordtype">bool</span> &amp;isintensities);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordtype">void</span> setAutoReconnect(<span class="keyword">const</span> <span class="keywordtype">bool</span> &amp;enable);</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  result_t getHealth(<a class="code" href="structdevice__health.html">device_health</a> &amp;health, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  result_t getDeviceInfo(<a class="code" href="structdevice__info.html">device_info</a> &amp;info, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  result_t startScan(<span class="keywordtype">bool</span> force = <span class="keyword">false</span>, uint32_t timeout = DEFAULT_TIMEOUT) ;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  result_t stop();</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  result_t grabScanData(<a class="code" href="structnode__info.html">node_info</a> *nodebuffer, <span class="keywordtype">size_t</span> &amp;count,</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                        uint32_t timeout = DEFAULT_TIMEOUT) ;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  result_t ascendScanData(<a class="code" href="structnode__info.html">node_info</a> *nodebuffer, <span class="keywordtype">size_t</span> count);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  result_t reset(uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  result_t startMotor();</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  result_t stopMotor();</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  result_t getScanFrequency(<a class="code" href="structscan__frequency.html">scan_frequency</a> &amp;frequency,</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                            uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  result_t setScanFrequencyAdd(<a class="code" href="structscan__frequency.html">scan_frequency</a> &amp;frequency,</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                               uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  result_t setScanFrequencyDis(<a class="code" href="structscan__frequency.html">scan_frequency</a> &amp;frequency,</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                               uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  result_t setScanFrequencyAddMic(<a class="code" href="structscan__frequency.html">scan_frequency</a> &amp;frequency,</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                                  uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  result_t setScanFrequencyDisMic(<a class="code" href="structscan__frequency.html">scan_frequency</a> &amp;frequency,</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                                  uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  result_t getSamplingRate(<a class="code" href="structsampling__rate.html">sampling_rate</a> &amp;rate,</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                           uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  result_t setSamplingRate(<a class="code" href="structsampling__rate.html">sampling_rate</a> &amp;rate,</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;                           uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  result_t getZeroOffsetAngle(<a class="code" href="structoffset__angle.html">offset_angle</a> &amp;angle,</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;                              uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; <span class="keyword">protected</span>:</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  result_t createThread();</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  result_t startAutoScan(<span class="keywordtype">bool</span> force = <span class="keyword">false</span>, uint32_t timeout = DEFAULT_TIMEOUT) ;</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  result_t stopScan(uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  result_t checkDeviceInfo(uint8_t *recvBuffer, uint8_t byte, <span class="keywordtype">int</span> recvPos,</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;                           <span class="keywordtype">int</span> recvSize, <span class="keywordtype">int</span> pos);</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  result_t waitDevicePackage(uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  result_t waitPackage(<a class="code" href="structnode__info.html">node_info</a> *node, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  result_t waitScanData(<a class="code" href="structnode__info.html">node_info</a> *nodebuffer, <span class="keywordtype">size_t</span> &amp;count,</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;                        uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="keywordtype">int</span> cacheScanData();</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  result_t sendCommand(uint8_t cmd, <span class="keyword">const</span> <span class="keywordtype">void</span> *payload = NULL,</div><div class="line"><a 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name="l00502"></a><span class="lineno">  502</span>&#160;</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00505"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a4457578961d36ce22035d778c0fd7f06">  505</a></span>&#160;  std::atomic&lt;bool&gt;     <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#a4457578961d36ce22035d778c0fd7f06">isConnected</a>;  </div><div class="line"><a name="l00506"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a245115a8c8a4f98d988fbee06810d0a4">  506</a></span>&#160;  std::atomic&lt;bool&gt;     <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#a245115a8c8a4f98d988fbee06810d0a4">isScanning</a>;   </div><div class="line"><a name="l00507"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#aa9fe773e62367a784c888d97c1886661">  507</a></span>&#160;  std::atomic&lt;bool&gt;     <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#aa9fe773e62367a784c888d97c1886661">isAutoReconnect</a>;  </div><div class="line"><a name="l00508"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a4fcf172c55eabd5c6ca2d8c2bf14e5c6">  508</a></span>&#160;  std::atomic&lt;bool&gt;     <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#a4fcf172c55eabd5c6ca2d8c2bf14e5c6">isAutoconnting</a>;  </div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  <span class="keyword">enum</span> {</div><div class="line"><a name="l00512"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#abbb612f1ac6a9f6dfdcfeafb149dd0daa07c79ce96f468ff4b40495ef84584442">  512</a></span>&#160;    DEFAULT_TIMEOUT = 2000,    </div><div class="line"><a name="l00513"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#abbb612f1ac6a9f6dfdcfeafb149dd0daa94033b4717c83f52cd008fe38b712e21">  513</a></span>&#160;    DEFAULT_HEART_BEAT = 1000, </div><div class="line"><a name="l00514"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#abbb612f1ac6a9f6dfdcfeafb149dd0daa3db6fc46c7ce55cdf3a968b70e96374a">  514</a></span>&#160;    MAX_SCAN_NODES = 3600,     </div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    DEFAULT_TIMEOUT_COUNT = 1,</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  };</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  <span class="keyword">enum</span> {</div><div class="line"><a name="l00518"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a3303d67e56b0dd5a36397a5326965713">  518</a></span>&#160;    YDLIDAR_F4      = 1,</div><div class="line"><a name="l00519"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a6ea5ed1cde351e4b5df40d1bbd697212">  519</a></span>&#160;    YDLIDAR_T1      = 2,</div><div class="line"><a name="l00520"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a7d64a3d3e3d3ef6d1db5c0a8740a523a">  520</a></span>&#160;    YDLIDAR_F2      = 3,</div><div class="line"><a name="l00521"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853ab1d9ab224053d610e97ebee7236345ba">  521</a></span>&#160;    YDLIDAR_S4      = 4,</div><div class="line"><a name="l00522"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a6bd6fb5e1f3ddd4e36ab12e53c114039">  522</a></span>&#160;    YDLIDAR_G4      = 5,</div><div class="line"><a name="l00523"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a5065807c3aa6a4a731858dda599667b7">  523</a></span>&#160;    YDLIDAR_X4      = 6,</div><div class="line"><a name="l00524"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853ae5e91e3e2e4fdf6a134e796e157e35ef">  524</a></span>&#160;    YDLIDAR_G4PRO   = 7,</div><div class="line"><a name="l00525"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a700fca9e58a191c0d1a4d13ae67927e8">  525</a></span>&#160;    YDLIDAR_F4PRO   = 8,</div><div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853ab2fd2f153ca88030ab27f48777622777">  526</a></span>&#160;    YDLIDAR_R2      = 9,</div><div class="line"><a name="l00527"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853ae002254eaa770ccb6d0d5f611e2d3303">  527</a></span>&#160;    YDLIDAR_G10     = 10,</div><div class="line"><a name="l00528"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a60b16d0468bb4fa5547de578ea6bda7e">  528</a></span>&#160;    YDLIDAR_S4B     = 11,</div><div class="line"><a name="l00529"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a99ba8286a5265e554cfba5c9d755c8be">  529</a></span>&#160;    YDLIDAR_S2      = 12,</div><div class="line"><a name="l00530"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a47bc5fa1ceb0d5eda94e7e70bfa03f53">  530</a></span>&#160;    YDLIDAR_G6      = 13,</div><div class="line"><a name="l00531"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853af6980ee75e8a4f3dd3bdfbcceacf3104">  531</a></span>&#160;    YDLIDAR_G2A     = 14,</div><div class="line"><a name="l00532"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a396e2eac21dc8b0bdb474d7f7a1b49ad">  532</a></span>&#160;    YDLIDAR_G2B     = 15,</div><div class="line"><a name="l00533"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a880868c72282a0baf5630e43ffcb5a36">  533</a></span>&#160;    YDLIDAR_G2C     = 16,</div><div class="line"><a name="l00534"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a767395ac3ca22f0dbe6b07a498e196c8">  534</a></span>&#160;    YDLIDAR_G4B     = 17,</div><div class="line"><a name="l00535"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a55a9d7236d51f9d1d38d41cd102be527">  535</a></span>&#160;    YDLIDAR_G4C     = 18,</div><div class="line"><a name="l00536"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853aa98373fd7cf114123cf357e8bb5bc3ce">  536</a></span>&#160;    YDLIDAR_G1      = 19,</div><div class="line"><a name="l00538"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a0266f6b9842d35cb3d85057d478b8e8b">  538</a></span>&#160;    YDLIDAR_TG15    = 100,</div><div class="line"><a name="l00539"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a21b8322d4687fc7fb9871fd5b5d372ef">  539</a></span>&#160;    YDLIDAR_TG30    = 101,</div><div class="line"><a name="l00540"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1edd5634ea00ca122a0882d875f42853a249b8593318c40646f2842e5c5e89715">  540</a></span>&#160;    YDLIDAR_TG50    = 102,</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    YDLIDAR_Tail,</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  };</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  <span class="keyword">enum</span> {</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    YDLIDAR_RATE_4K = 0,</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;    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href="classydlidar_1_1_y_dlidar_driver.html#a106fc563bb42f19e84e8d9db1e7856fe">  553</a></span>&#160;  <span class="keywordtype">size_t</span>         <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#a106fc563bb42f19e84e8d9db1e7856fe">scan_node_count</a>;   </div><div class="line"><a name="l00554"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#afd2b3835a0e450d9b88d28d8f574148d">  554</a></span>&#160;  <a class="code" href="class_event.html">Event</a>          <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#afd2b3835a0e450d9b88d28d8f574148d">_dataEvent</a>;        </div><div class="line"><a name="l00555"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1bb836661c8c39c2b71c9a0de8755c5c">  555</a></span>&#160;  <a class="code" href="class_locker.html">Locker</a>         <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#a1bb836661c8c39c2b71c9a0de8755c5c">_lock</a>;             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560</span>&#160;  <span class="keywordtype">int</span> PackageSampleBytes;            </div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  <a class="code" href="classserial_1_1_serial.html">serial::Serial</a> *_serial;          </div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <span class="keywordtype">bool</span> m_intensities;               </div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  uint32_t m_baudrate;              </div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="keywordtype">bool</span> isSupportMotorDtrCtrl;       </div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  uint32_t trans_delay;             </div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  <span class="keywordtype">int</span> m_sampling_rate;              </div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="keywordtype">int</span> model;                        </div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <span class="keywordtype">int</span> sample_rate;                  </div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <a class="code" href="structnode__package.html">node_package</a> package;             </div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  <a class="code" href="structnode__packages.html">node_packages</a> packages;           </div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;  uint16_t package_Sample_Index;    </div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  <span class="keywordtype">float</span> IntervalSampleAngle;</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  <span class="keywordtype">float</span> IntervalSampleAngle_LastPackage;</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  uint16_t FirstSampleAngle;        </div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  uint16_t LastSampleAngle;         </div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  uint16_t CheckSum;                </div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  uint8_t scan_frequence;           </div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;</div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  uint16_t CheckSumCal;</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  uint16_t SampleNumlAndCTCal;</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  uint16_t LastSampleAngleCal;</div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  <span class="keywordtype">bool</span> CheckSumResult;</div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  uint16_t Valu8Tou16;</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  std::string serial_port;</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  uint8_t *globalRecvBuffer;</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  <span class="keywordtype">int</span> retryCount;</div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  <span class="keywordtype">bool</span> has_device_header;</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  uint8_t last_device_byte;</div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <span class="keywordtype">int</span>         asyncRecvPos;</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  uint16_t    async_size;</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <span class="comment">//singleChannel</span></div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <a class="code" href="structdevice__info.html">device_info</a> info_;</div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <a class="code" href="structdevice__health.html">device_health</a> health_;</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  <a class="code" href="structlidar__ans__header.html">lidar_ans_header</a> header_;</div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  uint8_t  *headerBuffer;</div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  uint8_t  *infoBuffer;</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  uint8_t  *healthBuffer;</div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="keywordtype">bool</span>     get_device_info_success;</div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keywordtype">bool</span>     get_device_health_success;</div><div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;</div><div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;};</div><div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;</div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;<span class="keyword">inline</span> std::string lidarModelToString(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  std::string name = <span class="stringliteral">&quot;unkown&quot;</span>;</div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  <span class="keywordflow">switch</span> (model) {</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_F4:</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;      name = <span class="stringliteral">&quot;F4&quot;</span>;</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;</div><div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_T1:</div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;      name = <span class="stringliteral">&quot;T1&quot;</span>;</div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_F2:</div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;      name = <span class="stringliteral">&quot;F2&quot;</span>;</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;</div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_S4:</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;      name = <span class="stringliteral">&quot;S4&quot;</span>;</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;</div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;</div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G4:</div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;      name = <span class="stringliteral">&quot;G4&quot;</span>;</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;</div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_X4:</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;      name = <span class="stringliteral">&quot;X4&quot;</span>;</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;</div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;</div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G4PRO:</div><div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;      name = <span class="stringliteral">&quot;G4PRO&quot;</span>;</div><div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;</div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_F4PRO:</div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;      name = <span class="stringliteral">&quot;F4PRO&quot;</span>;</div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_R2:</div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;      name = <span class="stringliteral">&quot;R2&quot;</span>;</div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;</div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;</div><div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G10:</div><div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;      name = <span class="stringliteral">&quot;G10&quot;</span>;</div><div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;</div><div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;</div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_S4B:</div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;      name = <span class="stringliteral">&quot;S4B&quot;</span>;</div><div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;</div><div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;</div><div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_S2:</div><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;      name = <span class="stringliteral">&quot;S2&quot;</span>;</div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;</div><div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;</div><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G6:</div><div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;      name = <span class="stringliteral">&quot;G6&quot;</span>;</div><div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;</div><div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;</div><div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G2A:</div><div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;      name = <span class="stringliteral">&quot;G2A&quot;</span>;</div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;</div><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;</div><div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G2B:</div><div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;      name = <span class="stringliteral">&quot;G2B&quot;</span>;</div><div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;</div><div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;</div><div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G2C:</div><div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;      name = <span class="stringliteral">&quot;G2C&quot;</span>;</div><div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;</div><div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;</div><div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G4B:</div><div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      name = <span class="stringliteral">&quot;G4B&quot;</span>;</div><div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;</div><div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;</div><div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G4C:</div><div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;      name = <span class="stringliteral">&quot;G4C&quot;</span>;</div><div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;</div><div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G1:</div><div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;      name = <span class="stringliteral">&quot;G1&quot;</span>;</div><div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;</div><div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;</div><div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_TG15:</div><div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;      name = <span class="stringliteral">&quot;TG15&quot;</span>;</div><div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;</div><div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;</div><div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_TG30:</div><div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      name = <span class="stringliteral">&quot;TG30&quot;</span>;</div><div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;</div><div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;</div><div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_TG50:</div><div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;      name = <span class="stringliteral">&quot;TG50&quot;</span>;</div><div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;</div><div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;    <span class="keywordflow">default</span>:</div><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;      name = <span class="stringliteral">&quot;unkown&quot;</span>;</div><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  }</div><div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;</div><div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;  <span class="keywordflow">return</span> name;</div><div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;}</div><div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;</div><div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">int</span> lidarModelDefaultSampleRate(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;  <span class="keywordtype">int</span> sample_rate = 4;</div><div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;</div><div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  <span class="keywordflow">switch</span> (model) {</div><div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_F4:</div><div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;</div><div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_T1:</div><div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;</div><div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_F2:</div><div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;</div><div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_S4:</div><div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;</div><div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G4:</div><div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;      sample_rate = 9;</div><div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;</div><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_X4:</div><div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;      sample_rate = 5;</div><div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;</div><div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G4PRO:</div><div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;      sample_rate = 9;</div><div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;</div><div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_F4PRO:</div><div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;      sample_rate = 4;</div><div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;</div><div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_R2:</div><div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;      sample_rate = 5;</div><div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;</div><div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G10:</div><div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;      sample_rate = 10;</div><div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;</div><div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_S4B:</div><div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;      sample_rate = 4;</div><div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;</div><div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_S2:</div><div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;      sample_rate = 3;</div><div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;</div><div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G6:</div><div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;      sample_rate = 18;</div><div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;</div><div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G2A:</div><div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;      sample_rate = 5;</div><div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;</div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G2B:</div><div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      sample_rate = 5;</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;</div><div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G2C:</div><div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      sample_rate = 4;</div><div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;</div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G4B:</div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;</div><div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G4C:</div><div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;</div><div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_G1:</div><div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;      sample_rate = 9;</div><div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;</div><div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_TG15:</div><div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;      sample_rate = 20;</div><div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;</div><div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_TG30:</div><div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;      sample_rate = 20;</div><div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;</div><div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;    <span class="keywordflow">case</span> YDlidarDriver::YDLIDAR_TG50:</div><div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;      sample_rate = 20;</div><div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;</div><div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    <span class="keywordflow">default</span>:</div><div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;  }</div><div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;</div><div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;  <span class="keywordflow">return</span> sample_rate ;</div><div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;}</div><div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;</div><div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> isOctaveLidar(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  <span class="keywordtype">bool</span> ret = <span class="keyword">false</span>;</div><div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;</div><div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  <span class="keywordflow">if</span> (model == YDlidarDriver::YDLIDAR_G6 ||</div><div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;      model == YDlidarDriver::YDLIDAR_TG15 ||</div><div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;      model == YDlidarDriver::YDLIDAR_TG30 ||</div><div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;      model == YDlidarDriver::YDLIDAR_TG50) {</div><div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;    ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;  }</div><div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;</div><div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;}</div><div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;</div><div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> hasSampleRate(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;  <span class="keywordtype">bool</span> ret = <span class="keyword">false</span>;</div><div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;</div><div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;  <span class="keywordflow">if</span> (model == YDlidarDriver::YDLIDAR_G4 ||</div><div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;      model == YDlidarDriver::YDLIDAR_G4PRO ||</div><div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;      model == YDlidarDriver::YDLIDAR_F4PRO ||</div><div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;      model == YDlidarDriver::YDLIDAR_G6 ||</div><div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;      model == YDlidarDriver::YDLIDAR_TG15 ||</div><div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;      model == YDlidarDriver::YDLIDAR_TG50 ||</div><div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;      model == YDlidarDriver::YDLIDAR_TG30) {</div><div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;    ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;  }</div><div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;</div><div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;  <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;}</div><div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> hasZeroAngle(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;  <span class="keywordtype">bool</span> ret = <span class="keyword">false</span>;</div><div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;</div><div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;  <span class="keywordflow">if</span> (model == YDlidarDriver::YDLIDAR_R2 ||</div><div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;      model == YDlidarDriver::YDLIDAR_G2A ||</div><div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;      model == YDlidarDriver::YDLIDAR_G2B ||</div><div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;      model == YDlidarDriver::YDLIDAR_G2C ||</div><div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;      model == YDlidarDriver::YDLIDAR_G1) {</div><div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;    ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;  }</div><div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;</div><div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;  <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;}</div><div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;</div><div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> hasScanFrequencyCtrl(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;  <span class="keywordtype">bool</span> ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;</div><div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;  <span class="keywordflow">if</span> (model == YDlidarDriver::YDLIDAR_S4 ||</div><div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;      model == YDlidarDriver::YDLIDAR_S4B ||</div><div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;      model == YDlidarDriver::YDLIDAR_S2 ||</div><div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;      model == YDlidarDriver::YDLIDAR_X4) {</div><div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;    ret = <span class="keyword">false</span>;</div><div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;  }</div><div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;</div><div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;  <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;}</div><div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;</div><div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> isSupportLidar(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;  <span class="keywordtype">bool</span> ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;</div><div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;  <span class="keywordflow">if</span> (model &lt; YDlidarDriver::YDLIDAR_F4 || (model &gt; YDlidarDriver::YDLIDAR_G1 &amp;&amp;</div><div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;      model &lt; YDlidarDriver::YDLIDAR_TG15) ||</div><div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;      model &gt; YDlidarDriver::YDLIDAR_TG50) {</div><div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;    ret = <span class="keyword">false</span>;</div><div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;</div><div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;  }</div><div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;</div><div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;  <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;}</div><div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;</div><div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> hasIntensity(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;  <span class="keywordtype">bool</span> ret = <span class="keyword">false</span>;</div><div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;</div><div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;  <span class="keywordflow">if</span> (model == YDlidarDriver::YDLIDAR_G2B ||</div><div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;      model == YDlidarDriver::YDLIDAR_G4B ||</div><div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;      model == YDlidarDriver::YDLIDAR_S4B) {</div><div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;    ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;  }</div><div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;</div><div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;  <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;}</div><div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;</div><div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> isSupportMotorCtrl(<span class="keywordtype">int</span> model) {</div><div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;  <span class="keywordtype">bool</span> ret = <span class="keyword">false</span>;</div><div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;</div><div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;  <span class="keywordflow">if</span> (model == YDlidarDriver::YDLIDAR_X4 ||</div><div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;      model == YDlidarDriver::YDLIDAR_S2 ||</div><div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;      model == YDlidarDriver::YDLIDAR_S4 ||</div><div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;      model == YDlidarDriver::YDLIDAR_S4B) {</div><div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;    ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;</div><div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;  }</div><div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;</div><div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;}</div><div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;</div><div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> isSupportScanFrequency(<span class="keywordtype">int</span> model, <span class="keywordtype">double</span> frequency) {</div><div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;  <span class="keywordtype">bool</span> ret = <span class="keyword">false</span>;</div><div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;</div><div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;  <span class="keywordflow">if</span> (model &gt;= YDlidarDriver::YDLIDAR_TG15) {</div><div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;    <span class="keywordflow">if</span> (3 &lt;= frequency &amp;&amp; frequency &lt;= 12) {</div><div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;      ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;    }</div><div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;    <span class="keywordflow">if</span> (5 &lt;= frequency &amp;&amp; frequency &lt;= 12) {</div><div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;      ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;    }</div><div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;  }</div><div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;</div><div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;  <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;}</div><div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;</div><div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;</div><div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;}<span class="comment">// namespace ydlidar</span></div><div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;</div><div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;<span class="preprocessor">#endif // YDLIDAR_DRIVER_H</span></div><div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a245115a8c8a4f98d988fbee06810d0a4"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a245115a8c8a4f98d988fbee06810d0a4">ydlidar::YDlidarDriver::isScanning</a></div><div class="ttdeci">std::atomic&lt; bool &gt; isScanning</div><div class="ttdoc">扫图状态 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:506</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a106fc563bb42f19e84e8d9db1e7856fe"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a106fc563bb42f19e84e8d9db1e7856fe">ydlidar::YDlidarDriver::scan_node_count</a></div><div class="ttdeci">size_t scan_node_count</div><div class="ttdoc">激光点数 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:553</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a486f56ec5c3459774e6b395ef8bd202b"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a486f56ec5c3459774e6b395ef8bd202b">ydlidar::YDlidarDriver::scan_node_buf</a></div><div class="ttdeci">node_info * scan_node_buf</div><div class="ttdoc">激光点信息 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:552</div></div>
<div class="ttc" id="namespaceydlidar_html"><div class="ttname"><a href="namespaceydlidar.html">ydlidar</a></div><div class="ttdef"><b>Definition:</b> v8stdint.h:205</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_afd2b3835a0e450d9b88d28d8f574148d"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#afd2b3835a0e450d9b88d28d8f574148d">ydlidar::YDlidarDriver::_dataEvent</a></div><div class="ttdeci">Event _dataEvent</div><div class="ttdoc">数据同步事件 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:554</div></div>
<div class="ttc" id="structdevice__health_html"><div class="ttname"><a href="structdevice__health.html">device_health</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:168</div></div>
<div class="ttc" id="class_event_html"><div class="ttname"><a href="class_event.html">Event</a></div><div class="ttdef"><b>Definition:</b> locker.h:184</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a9fbd1b3471c1aa4959d74524b9a92410"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a9fbd1b3471c1aa4959d74524b9a92410">ydlidar::YDlidarDriver::_thread</a></div><div class="ttdeci">Thread _thread</div><div class="ttdoc">线程id </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:557</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a4fcf172c55eabd5c6ca2d8c2bf14e5c6"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a4fcf172c55eabd5c6ca2d8c2bf14e5c6">ydlidar::YDlidarDriver::isAutoconnting</a></div><div class="ttdeci">std::atomic&lt; bool &gt; isAutoconnting</div><div class="ttdoc">是否正在自动连接中 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:508</div></div>
<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div></div>
<div class="ttc" id="structlidar__ans__header_html"><div class="ttname"><a href="structlidar__ans__header.html">lidar_ans_header</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:212</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a1bb836661c8c39c2b71c9a0de8755c5c"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a1bb836661c8c39c2b71c9a0de8755c5c">ydlidar::YDlidarDriver::_lock</a></div><div class="ttdeci">Locker _lock</div><div class="ttdoc">线程锁 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:555</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_ac1ace85f37283559d4f2bc2797eea900"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#ac1ace85f37283559d4f2bc2797eea900">ydlidar::YDlidarDriver::_serial_lock</a></div><div class="ttdeci">Locker _serial_lock</div><div class="ttdoc">串口锁 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:556</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a4457578961d36ce22035d778c0fd7f06"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a4457578961d36ce22035d778c0fd7f06">ydlidar::YDlidarDriver::isConnected</a></div><div class="ttdeci">std::atomic&lt; bool &gt; isConnected</div><div class="ttdoc">串口连接状体 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:505</div></div>
<div class="ttc" id="class_thread_html"><div class="ttname"><a href="class_thread.html">Thread</a></div><div class="ttdef"><b>Definition:</b> thread.h:22</div></div>
<div class="ttc" id="structnode__package_html"><div class="ttname"><a href="structnode__package.html">node_package</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:140</div></div>
<div class="ttc" id="namespaceserial_html"><div class="ttname"><a href="namespaceserial.html">serial</a></div><div class="ttdef"><b>Definition:</b> serial.h:11</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_aa9fe773e62367a784c888d97c1886661"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#aa9fe773e62367a784c888d97c1886661">ydlidar::YDlidarDriver::isAutoReconnect</a></div><div class="ttdeci">std::atomic&lt; bool &gt; isAutoReconnect</div><div class="ttdoc">异常自动从新连接 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:507</div></div>
<div class="ttc" id="structdevice__info_html"><div class="ttname"><a href="structdevice__info.html">device_info</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:161</div></div>
<div class="ttc" id="structsampling__rate_html"><div class="ttname"><a href="structsampling__rate.html">sampling_rate</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:173</div></div>
<div class="ttc" id="structoffset__angle_html"><div class="ttname"><a href="structoffset__angle.html">offset_angle</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:201</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html">ydlidar::YDlidarDriver</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:74</div></div>
<div class="ttc" id="structnode__info_html"><div class="ttname"><a href="structnode__info.html">node_info</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:126</div></div>
<div class="ttc" id="structscan__frequency_html"><div class="ttname"><a href="structscan__frequency.html">scan_frequency</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:177</div></div>
<div class="ttc" id="classserial_1_1_serial_html"><div class="ttname"><a href="classserial_1_1_serial.html">serial::Serial</a></div><div class="ttdef"><b>Definition:</b> serial.h:109</div></div>
<div class="ttc" id="class_locker_html"><div class="ttname"><a href="class_locker.html">Locker</a></div><div class="ttdef"><b>Definition:</b> locker.h:20</div></div>
<div class="ttc" id="structnode__packages_html"><div class="ttname"><a href="structnode__packages.html">node_packages</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:150</div></div>
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